#ifndef LIBCALLOAD_H
#define LIBCALLOAD_H

#include <iostream>
#include <math.h>
#include "augmentedmatrix.hh"

/**
 * calpayload: calculate final payload as per the identification result of running with/without payload
 * @param dhpara [IN] array of dh d4, d5, d6
 * @param payload [OUT] mass of payload
 * @param center [OUT] center of payload
 * @return 
 */

extern int calpayload(double* dhpara, double* payload, double* center);

#endif
